Modular interface for damping mechanical vibrations

ABSTRACT

Interfaces for damping mechanical vibrations are used, for example, for damping vibrations in the automotive or aerospace industry. The interfaces have a base connection element, a load connection element and a support element, with the support element being connected to the base connection element via a pretensioning device. A first energy converter system extends between engagement points on the base connection element and engagement points on the load connection element. A second energy converter system extends between engagement points on the support element and engagement points on the load connection element.

RELATED APPLICATIONS/PRIORITY CLAIM

This Application is a Divisional Application of pending U.S. patentapplication Ser. No. 10/565,469 filed Jan. 19, 2006 entitled “ModularInterface for Damping Mechanical Vibrations”, and which is a NationalPhase Application of PCT Application PCT/EP2004/007986 filed Jul. 16,2004, which claims priority to German Application No. 103 33 492.0 filedJul. 22, 2003 and German Application No. 103 61 481.1 filed Dec. 23,2003; the disclosures of all the above being expressively incorporatedherein by reference, and to all of which, priority is hereby claimed inthis Application.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The invention relates to an interface for damping or isolatingmechanical vibrations by means of a plurality of energy convertersystems. Such interfaces are used, for example, for damping vibrationsin the field of general machine engineering, the automotive industry,the construction industry or the aerospace industry.

Dynamic mechanical interference in the form of vibrations which areexcited, for example, by the operation of assemblies (for example powersupply assemblies) or by other ambient conditions, are produced inmachines, vehicles and similar modules. The frequencies of thesevibrations extend into the relatively high frequency acoustic range andbring about undesired dynamic and/or acoustic effects locally at thelocation where the interference is produced or applied, or further awayafter transmission over mechanical load paths. This results in losses ofcomfort, safety problems, damage to components owing to structuralfatigue, shortened service life, reduced functionalities etc.

2. Description of the Related Art

What is referred to as material damping, in which the mechanical energyof the vibration is converted directly into thermal energy, isfrequently used to damp or isolate mechanical vibrations. Examples ofthis are elastic or viscoelastic damping systems.

In addition, measures which are based on other energy converter systemsare increasingly used. These energy converter systems generally convertmechanical energy into electrical energy and vice versa. Both effectsare used to damp mechanical vibrations. The distinction is generallymade here between active, semiactive and passive vibration dampers.

In the case of passive and semiactive vibration damping, the mechanicalenergy of the vibrations is firstly converted into electrical energyusing an electric/mechanical energy converter (for example apiezoceramic). This electrical energy is then dissipated, i.e. convertedinto thermal energy, in a passive electrical circuit (e.g. an ohmicresistor) in the case of passive vibration damping, or diverted using anactive electric circuit (for example electric damper) in the case ofsemiactive vibration damping. Such systems are described, for example,in N. W. Hagood and A. von Flotow: Damping of Structural Vibrations withPiezoelectric Materials and Passive Electrical Networks, Journal ofSound and Vibration 146 (2), 243 (1991).

In the case of active vibration isolation, at least one actuator systemis connected between an interference source (base side) and a connectionside. In this context, “actuator” refers to an energy converter which,for example, can convert electrical signals into mechanical movements,for example a piezoactuator or a pneumatic actuator. What is decisive isthat the characteristic (for example extent) of the actuators can bevaried in a controlled fashion by means of an actuation signal. Anexample of a system for active vibration isolation using actuatorelements is disclosed in U.S. Pat. No. 5,660,255. Actuator elements anda small additional mass are interposed between a base housing and auseful load which is to be isolated. Sensors which record thedisplacement of the small mass are mounted on said small mass. Anactuation signal for the actuator elements is generated from thedisplacement using an electronic closed-control circuit and an externalelectrical energy source. The actuator elements are actuated in such away that the vibration movement at the location of the useful load islargely eliminated.

FIG. 1 shows a satellite as an example of active isolation ofinterference sources and sensitive components which should be protectedfrom mechanical interference. The satellite contains internalinterference sources 1, for example mechanical coolers, motors etc.Mechanical interference from these interference sources 1 is damped byactive elements 2, 3, 4 so that the interference from the interferencesources 1 does not act on the sensitive components 5 (cameras,reflectors, etc.) via transmission paths 3, 4.

In addition to the use for active, passive and semiactive vibrationdamping, the electric/mechanical energy converters can oftensimultaneously be used as actuating elements for mechanical positioningof a useful load. This may be done, for example, by virtue of the factthat an annular arrangement of a plurality of actuators is integratedinto a vibration-damping interface which can bring about, for example,selective tilting of a structure with respect to a base. Such a systemis disclosed, for example, in DE 195 27 514 C2.

For structural reasons, actuator systems are frequently operated inpractice with a preload. This is frequently a mechanical preload in theform of compressive loading or tensile loading on the actuator system.For example in the case of piezoactuators in which extension beyond thelength at rest (i.e. length of the actuator without voltage applied)would lead to mechanical damage to the actuator, operation withoutpreloading is in practice inappropriate or not possible. However, thestructural implementation of a device for exerting a preload presentsproblems, in particular in the case of the actuator or actuators whoseextension direction extends parallel to the force (for example the forceof the weight) exerted by the useful load, and has a frequently negativeeffect on the effectiveness of the actuator. U.S. Pat. No. 5,660,255does not disclose a satisfactory solution to this problem.

DE 195 27 514 C2 discloses an interface for reducing vibrations instructural dynamic systems in which vibration insulation occurs betweena structure-side component and a base-side component by means of aplurality of actuators which have a main direction. Pressurepretensioning on the actuators is ensured by anti-fatigue bolts betweenthe base-side component and the structure-side component. However, sucha rigid mechanical connection between the base-side component and thestructure-side component has the disadvantage that as a result a bridgeis provided via which vibrations can propagate from a base-sideinterference source to the structure-side component.

SUMMARY OF THE INVENTION

The object of the present invention is to disclose an interface forvibration reduction which transmits as little sound as possible andwhich can be used for active, semiactive and passive vibration isolationas well as for mechanically positioning a load.

This object is achieved by means of the invention having the features ofthe independent claim. Advantageous developments of the invention arecharacterized in the subclaims.

An interface for reducing mechanical vibrations is proposed which has abase connection element, a load connection element and at least onesupport element. In this context, at least a first energy convertersystem extends between at least one engagement point located on the baseconnection element and at least one engagement point located on the loadconnection element.

The energy converter system can be based on various physical principlesdepending on the application and requirements. In particularpiezoactuators have proven to be particularly advantageous. However,actuators which are based on what are known as shape-memory alloys orother materials with a memory effect as well as magnetostrictive orelectrostrictive actuators, pneumatic or hydraulic actuators,magnetorheological or electrorheological fluid actuators and dampingelements can be advantageously used. Combinations of different energyconverter systems are also possible, for example the combination (forexample a series or parallel circuit) of a piezoactuator with a“conventional” damping system, for example a spring system or a rubberdamper.

Spring systems or elastic materials can also be used in combination withpiezoactuators in order to generate a preload on the piezoactuator or toincrease an existing preload. Vibrations in different frequency rangescan also be compensated by combining different operative principles andenergy converter systems, that is to say for example high-frequencyvibrations due to active or passive damping by means of piezoactuators,low-frequency vibrations due to conventional damping elements (forexample viscoelastic dampers).

At least one second energy converter system extends between at least oneengagement point located on the support element and at least oneengagement point located on the load connection element. Thedescriptions stated above relating to the first energy converter systemapply appropriately for the selection and the composition of this secondenergy converter system.

The base connection element is connected to the at least one supportelement via at least one pretensioning device in such a way that thepretensioning device can exert a preload on the first energy convertersystem and on the second energy converter system. This preload may be,for example, mechanical compressive loading or tensile loading. It isoptionally also possible to operate with a preload of zero, that is tosay an operating mode in which force is not exerted on the energyconverter systems. This preload (also the preload of zero) can also becombined, for example, with an initial electrical load. Thepretensioning device may be elastic or inelastic. The preload can beexerted directly or indirectly on the energy converter systems, that isto say for example also indirectly by means of an additional springsystem.

The load connection element is to have a part which is located in anintermediate space between the base connection element and the supportelement and a part which is located outside the intermediate spacebetween the base connection element and the support element.

Intermediate space is to be understood here as not only a closed-offcavity but also any space between the base connection element and theload connection element.

This condition ensures the advantage that the load connection element iseasily accessible for mounting a load. The vibration insulation isprovided, for example, by means of the part located between the baseconnection element and the support element, as a result of whichcompressive pretensioning can be exerted on the energy convertersystems. On the other hand, a load is mounted on that part of the loadelement located outside the intermediate space between the baseconnection element and the support element. Said part is then no longerrestricted by the spatial dimensions of the intermediate space, that isto say may be configured as desired in terms of shape and size and as aresult, for example, take into account specific requirements of theconnection geometry of the load.

The base connection element and the load connection element may have,for example, a planar mounting face. This facilitates the installationof the interface in existing structures for isolating avibration-sensitive load from one or more interference sources.Furthermore, in this way it is possible to easily connect a plurality ofinterfaces in series.

The described interface can be integrated into structures

as a bearing element,

as a modular transmission element and/or

as an actuation element.

The proposed arrangement is characterized in particular by the fact thatthe load connection element is generally connected to the supportelement or the base connection element only via the first and secondenergy converter systems. In this way, the number of sound bridgesbetween base-side interference sources and a useful load is reduced tothe technically necessary minimum.

Despite this reduction in the sound bridges, the rigid or flexiblepretensioning device, which produces a connection between the baseconnection element and the support element, permits a defined setting ofa pretensioning of the energy converter systems. This may be done, forexample, by virtue of the fact that the pretensioning device used is anelastic element, anti-fatigue screws or similar elements with a variablelength.

It is possible to use energy converter systems with a common preferreddirection or with different preferred directions, the latter optionhaving the purpose, for example, of isolating vibrations in differentspatial directions. A separate support element and a separatepretensioning device is then advantageously used for each spatialdirection. Preferably in each case at least one energy converter systemwhich extends between the base connection element and the loadconnection element and at least one energy converter system whichextends between the load connection element and the support element isused for each spatial direction. In turn, pretensioning can then beexerted on the energy converter systems without sound bridges beingprovided between the base element and the load connection element.

Furthermore, it is also possible to use more than two energy convertersystems for one spatial direction. This may be advantageous inparticular if the energy converter systems are actuator systems whichare intended to bring about not only pure translation of the loadconnection element but also, for example, tilting. If, for example, twopairs of actuator systems are arranged in parallel, unequal extension ofthe two pairs leads to tilting of the load connection element about anaxis perpendicular to the preferred direction of the two pairs ofactuator systems. In analogous fashion it is possible to use a pluralityof pairs of actuator systems to bring about tilting of the loadconnection element about a plurality of axes. In this way it ispossible, for example, also to isolate torsional vibrations in the baseconnection element from the load connection element.

In a further advantageous refinement of the invention, the baseconnection element and the load connection element each havestandardized connection geometries. These connection geometries may be,for example, threads, flanges, screwed bolts etc. This permits rapid andcost-effective exchange or supplementation of existing elements andstructures by the described interface for reducing vibration. Forexample, in satellite engineering it is easily possible to connect theinterface between the main body, which contains, for example,interference sources in the form of motors, and a position-sensitiveantenna without structural changes being necessary to the entirearrangement. It is possible, for example, to resort to standardizedflange geometries.

The pretensioning device advantageously has a pipe which surrounds theactuator systems. The pipe may have circular, rectangular or any desiredcross-sectional geometry.

This is advantageous in particular if all the energy converter systemshave a common preferred direction. The enclosed pipe may be of rigid orflexible design and is particular designed in such a way that thetubular axis is oriented approximately parallel to the preferreddirection of the actuator systems. The pipe protects the actuatorsystems against environmental influences such as, for example, moisture,dirt or the like. Furthermore, the pipe stabilizes the energy convertsystems against effects of forces perpendicular to the preferreddirection (for example shearing forces) which could cause mechanicaldamage to the energy converter systems.

In different methods for damping vibrations it is advantageous togenerate information about the actual vibration of the load connectionelement. For this reason, a sensor system for determining, for example,travel, velocity, acceleration or force can be connected orintermediately connected to an element of the interface. In particularit is advantageous if a sensor is connected to the load connectionelement. Further sensors systems may be connected, for example, to thebase connection element.

The sensor systems may be, for example, capacitive or piezoelectricacceleration or force sensors or magnetic, electrostatic orinterferometric position or velocity sensors.

The information of the at least one sensor system may be used, forexample, for active vibration damping. In this context, actuator systemsmay be used in particular as energy converter systems. The signals ofthe sensor system are made available to an electronic closed loopcontrol system. The electronic closed loop control system generatescontrol signals (target function) from the sensor signals, said controlsignals being converted into actuation signals for the actuator systemsby means of a power supply. These actuation signals are used to excitethe actuator systems to vibrate, said vibrations being, for example, inantiphase with respect to the vibrations to be isolated and eliminatingor damping said vibrations at the location of the load.

In one development of the invention, at least one energy convertersystem is embodied entirely or partially as an actuator system. In thiscontext, part of this actuator system will be in turn capable of beingused at the same time as an energy converter which can convertmechanical energy into electrical energy.

In this development, both energy conversion directions are thereforeused simultaneously. Whereas electrical energy is typically convertedinto mechanical energy in an actuator, in this embodiment of theinvention mechanical energy is converted simultaneously into electricalenergy at least in part of an actuator. Actuators which are capable ofcarrying out this reversal of the converter principle are also referredto as multifunctional converter systems. The materials used in thiscontext, which can simultaneously bear mechanical loads and act as anactuator or sensor (see below) are referred to as multifunctionalmaterials.

The conversion can be carried out, for example, by utilizing thepiezoelectrical effect, for example by means of a piezoceramic. In thiscontext, a pressure on a piezoceramic or fluctuations in pressure in apiezoceramic are converted into electrical signals. Since piezoactuatorsare frequently composed of stacks of a large number of piezoceramiclayers, it is possible, for example, to use a layer from this stacksimultaneously for converting mechanical energy into electrical energy.

This development has various advantages. On the one hand, it is possibleto dispense at least partially with the use of additional sensors. Theelectrical signals which are generated by the actuator system servesimultaneously as sensor signals and can contain, for exampleinformation about the acceleration or velocity of the movement of auseful load.

In this way it is possible to determine the system response of theentire system to interference, for example by means of the interface.For example the actuator systems of the interface can have a specificreference structure stimulation applied to them. This referencestructure stimulation brings about a structure response by the entiresystem in the form of mechanical vibrations. By recording the electricalsignal of an actuator which acts as an energy converter betweenmechanical energy and electrical energy it is possible to record thestructure response by means of measuring equipment. The measuredstructure response, e.g. of the transmission properties, between theactuator-induced reference stimulation and sensor or the determinationof impedance permits conclusions to be drawn about the currentstructural state of the entire system, for example by comparing themeasured structure response or determining structure characteristicvalues with reference structure responses or reference structurecharacteristic values stored in a database.

A further advantage of the simultaneous use of at least part of anactuator system as a mechanical/electrical energy converter is thepossibility of using it as a passive or semiactive vibration damper. Inthis context, an electronic circuit is used to dissipate the electricalenergy.

In the simplest case, this electronic circuit is composed of ohmicresistor in which the electrical energy is converted partially intoheat. Even more efficient vibration damping can be achieved byadditionally using one or more coils and/or one or more capacitors. Forexample, the mechanical vibrations of the interface can thus result inperiodic fluctuations in the charges on the surfaces of a piezoceramicof a piezoactuator of the interface. This corresponds to periodicallyfluctuating charges on the plates of a capacitor. If the two plates ofthe capacitor (that is to say the two surfaces of the piezoceramic) areconnected to one another by means, for example, of an ohmic resistor anda coil, the mode of operation of the arrangement corresponds to theeffect of a damped electrical oscillatory circuit.

A further increase in the efficiency of the vibration damping can beachieved by using what is referred to as a “synthetic inductor” insteadof at least one coil. This synthetic inductor is generally composed of acombination of a plurality of ohmic resistors with one or moreoperational amplifiers. In this way it is possible to achieve higherinductances than with conventional coils. As a result, the damping ofthe oscillatory circuit is increased further. This technology isdescribed, for example, in D. Mayer, Ch. Linz and V., Krajenski:Synthetic Inductors for Semipassive Damping, 5. MagdeburgerMaschinenbautage, 2001.

The efficiency of the vibration damping can be further increased byconnecting in series a plurality of the interfaces described above inone of the described configurations and wiring arrangements in cascades.In this context, in each case the base connection element of thefollowing interface is connected to the load connection element of thepreceding interface.

BRIEF DESCRIPTION OF THE DRAWING FIGURES

In the text which follows the invention will be explained in more detailwith reference to exemplary embodiments which are illustratedschematically in the figures. However, it is not restricted to theexamples. Identical reference numbers in the individual figures relateto elements which are identical or functionally identical or whichcorrespond to one another in terms of their functions. In particular:

FIG. 1 shows a satellite with active isolation of interference sourcesand sensitive components in accordance with the prior art;

FIG. 2 shows a structural mechanical interface for vibration damping;

FIG. 3 shows a simplified electrical wiring arrangement for activevibration damping of the interface illustrated in FIG. 2;

FIG. 4 shows a means of actuating the actuator systems of the interfacein FIG. 2 for the selective tilting of a useful load;

FIG. 5 shows the possible tilting axes for an interface with actuatorswhich are arranged with 120.degree. rotational symmetry;

FIG. 6 shows an alternative embodiment of a structural mechanicalinterface for vibration damping;

FIG. 7 shows a further alternative embodiment of a structural mechanicalinterface for vibration damping;

FIG. 8 shows a structural mechanical interface for vibration damping ina perspective partial illustration with a cut-out segment;

FIG. 9 shows a structural mechanical interface for vibration damping intwo spatial directions which are perpendicular to one another;

FIG. 10 shows a structural mechanical interface for vibration damping inthree spatial directions which are not perpendicular to one another;

FIG. 11 shows an arrangement for the partial use of a piezoactuator of astructural mechanical interface as a sensor for a structural analysis;

FIG. 12 shows an electrical wiring system of part of a piezoactuator ofa structural mechanical interface for passive vibration damping; and

FIG. 13 shows an electrical wiring system of part of a piezoactuator ofa structural mechanical interface for passive vibration damping which isan alternative to FIG. 12.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 2 illustrates a preferred embodiment of the described interface forvibration damping. A base connection element 10 is connected to asupport element 14 via a pretensioning device 12. A first energyconverter system, which is composed of the piezoactuators 16 and 18,extends between the engagement points 20 and 22 on the base connectionelement 10 and the engagement points 24 and 26 on the load connectionelement 28. A second energy converter system which is composed of thepiezoactuators 30 and 32 extends between the engagement point 34 s and36 on the support element 14 and the engagement points 38 and 40 on theload connection element 28.

The illustrated arrangement shows merely a cross section through thestructural mechanical interface. The arrangement of this example issymmetrical with the indicated axis 42 of symmetry, with the exceptionof the piezoactuators 16, 30, 18, 32. The base connection element 10 istherefore a circular disk and the support element 14 an annular disk.The load connection element 28 is in the shape of a cylindrical cap,with part of the load connection element being located in theintermediate space between the pretensioning device 14 and the baseconnection element 10 and part being located outside. The pretensioningdevice 12 is composed of an elastic pipe with a diameter which isidentical to the external diameter of the circular disk of the baseconnection element 10 and to the external diameter of the annular diskof the support element 14. The pretensioning is carried out by virtue ofthe fact that the length of the elastic pipe is selected such that thepipe is expanded in the state of rest of the arrangement. As a resultcompressive pretensioning is exerted simultaneously on all thepiezoactuators.

Instead of the illustrated four piezoactuators it is also possible touse more than four actuators. These piezoactuators are preferablyarranged in a rotationally symmetrical fashion with respect to the axis42 of symmetry.

The base connection element 10 and the load connection element 28 areconfigured in such a way that simple and rapid mounting of the interfacebetween a base side which is excited to oscillate by interferencesources 1 and a load which is to be isolated can take place. For thispurpose, the base connection element 10 and the load connection element28 are provided with threaded bores with standard dimensions.

If the piezoactuators 16 and 18 are lengthened by simultaneous electricactuations and the piezoactuators 30 and 32 are shortened to the samedegree by suitable electrical actuations, the distance between the loadconnection element 28 and base connection element 10 is increased.Correspondingly, shortening the piezoactuators 16 and 18 andsimultaneously lengthening the piezoactuators 30 and 32 reduces thedistance between the load connection element 28 and base connectionplate 10. The electric actuations of the piezoactuators are notillustrated in FIG. 2.

If the piezoactuators 16 and 30 and 18 and 32 are each in antiphase, forexample actuated with sinusoidal alternating voltage of suitableamplitude and frequency, the load connection element 28 swings up anddown in relation to the base connection element 10. This can be used,for example, for active vibration damping.

FIG. 3 illustrates an electric wiring system for the interface accordingto FIG. 2. An acceleration sensor 60 which is secured to the loadconnection element 28 is connected to the input of an electronic closedloop control system 64 via a phase shifter 62. An output of theelectronic closed loop control system 64 is connected to thepiezoactuators 30 and 32 via a post-amplifier 66. Furthermore, theoutput of the electronic closed loop control system 64 is connected tothe piezoactuators 16 and 18 via a 180.degree. phase shifter 68 and asecond postamplifier 70.

If vibrations of the base connection element 10 are to be isolated fromthe load connection element 28, these vibrations are detected using theacceleration sensor 60. The sensor signal is then converted intosuitable antiphase actuation signals for the piezoactuators 16 and 30and 18 and 32 using the electronic closed loop control systems 64 andthe first phase shifter 62. The first phase shifter 62 can serve, forexample, for compensating phase shifts between the actual movement ofthe load connection element 28 and the sensor signals. This necessitydepends, inter alia, on the method of operation of the sensor 60. Forexample in the case of sinusoidal vibrations in which a phase shift of90.degree. occurs between the acceleration and velocity and between thevelocity and position, the signal of a velocity sensor would have to bephase shifted by 90.degree. in order to be able to bring about asuitable change in length of the piezoactuators. Delays in theelectronic closed loop control system 64 and resulting phase shifts canalso be compensated by the phase shifter 62.

The signals generated in the electronic closed loop control system 64are amplified further in the postamplifiers 66 and 70 and fed to theactuators 30 and 32 and 16 and 18. The second phase shifter 68 isnecessary since the two actuator systems 16, 18 and 30, 32 generallyhave to be actuated in antiphase.

The piezoactuators 16 and 30 and 18 and 32 are each excited to undergoantiphase vibrations by which the vibrations are transmitted to the loadconnection element 28. In the load connection element 28 the vibrationsexcited by the piezoactuators are superimposed on the vibrations of thebasic connection elements 10 in a destructive fashion if the phase isselected suitably so that the vibrations of the load connection element28 are damped.

In the illustrated arrangement, the piezoactuators 16, 18 of the firstactuator system and the piezoactuators 30, 32 of the second actuatorsystem are each configured in the same way, i.e. identical actuationsignals bring about identical changes in length. For this reason, ineach case a single postamplifier 66 or 70 can be used for the actuatorsof an actuator system. If different actuators are used within anactuator system, different postamplifiers would have to be used for eachof the actuators.

The actuation of the piezoactuators is illustrated in a highlysimplified form. As a rule, each piezoactuator has two electricalterminals to which different voltages have to be applied. The differencein voltage between the electric terminals determines the extension ofthe length of the piezoactuator.

FIG. 4 illustrates how tilting oscillations of the base connectionelement 10 can also be compensated or damped by selective actuation ofthe piezoactuators of the arrangement in FIG. 2. By virtue of the factthat the piezoactuator 30 is set, by a suitable electric actuationsignal, to a greater length than the piezoactuator 32, and thepiezoactuator 16 is correspondingly set to a smaller length than thepiezoactuator 18, the load connection element 28 is tilted relative tothe plane of the base connection element 10. For this purpose, thepiezoactuators 16, 18, 30, 32 require individual electric actuationmeans (not shown).

If tilting vibrations occur in the base connection element 10, they canbe detected, for example, by comparing the signals of different sensorswhich are mounted at different locations on the surface of the loadconnection element 28. The signals are then converted into suitableactuation signals of the piezoactuators using an electronic closed loopcontrol system 64 So that the load connection element 28 carries out atilting vibration relative to the base connection element 10, and saidtilting oscillation is superimposed in a destructive fashion on thetilting oscillation of the base connection element 10 and thus damps itin the load connection element 28.

The electronic closed loop control system 64 can, for example, beconstructed in such a way that a sum signal and a difference signal areformed from the signals of two sensors which are secured to the loadconnection element 28 and said sum signal and difference signal areconverted in separate controllers to form actuation signals for thepiezoactuators. The actuation signal for each piezoactuator is then asuperimposition of signals from the two controllers.

In this exemplary embodiment in which only two actuator pairs 16 and 30and 18 and 32 are used, the load connection 28 can only be tilted aboutan axis perpendicular to the axis 42 of symmetry. If, as describedabove, more actuator pairs are used, tilting about a plurality of axesperpendicular to the axis 42 of symmetry is possible. FIG. 5 illustratesin sketch form in a plan view an interface with three actuator pairs 80,82, 84 as an example. Only the actuator pairs 80, 82, 84 and the tiltingaxes are illustrated. Each of the actuator pairs 80, 82 and 84 isrespectively composed of an actuator which extends between an engagementpoint on the base connection element 10 and an engagement point on theload connection element 28, and an actuator which extends between anengagement point on the support element 14 and an engagement point onthe load connection element 28. The actuators of, in each case, oneactuator pair are arranged linearly and perpendicularly with respect tothe plane of the drawing in this embodiment and therefore cannot be seenindividually. The actuator pairs 80, 82, 84 are arranged in arotationally symmetrical fashion through 120.degree. about the axis 42of symmetry which is perpendicular to the plane of the drawing.

The arrangement allows the load connection element 28 to tilt about thethree tilting axes 88, 90 and 92 which are each arranged perpendicularlyto the axis 42 of symmetry.

The invention provides the advantage that in addition to tiltingvibrations about various axes it is also possible to damp torsionalvibrations of the base connection element 10. This can be done, forexample, by cyclically actuating the actuator pairs 80, 82 and 84.

FIG. 6 illustrates an example which shows that the engagement points ofone of the actuators of an actuator pair do not need to be arranged in aline. The load connection element 28 is embodied in this design in sucha way that the sum of the distances between the engagement points 34 and36 and 38 and 40 and the distances between the engagement points 24 and26 and 20 and 22 is greater than the distance between the baseconnection element 10 and the support element 14. In other words, theload connection element 28 can be configured in such a way that the sumof the lengths of an actuator pair 16, 30 and 18, 32 does not need tocorrespond to the distance between the base connection element 10 andsupport element 14. Configurations in which the length of an individualactuator exceeds the distance between the base connection element 10 andsupport element 14 are also possible.

As a result, it is possible to make use of the different lengths ofactuators without the external design, which is determined essentiallyby the distance between the base connection element 10 and supportelement 14, having to be significantly changed. Since the maximum changein length of a piezoactuator depends on the overall length of the piezo,it is thus possible to lengthen the actuation path of the interface byusing relatively long piezoactuators. Furthermore, by using differentpiezoactuators it is possible to damp vibrations with differentvibration frequencies since the resonant frequency of the piezoactuatorsalso depends significantly on the overall length of the piezoceramic.

FIG. 7 illustrates an exemplary embodiment which shows that theactuators 100 which extend between the engagement points on the baseconnection element 10 and the load connection element 28 and theactuators 106 which extend between the engagement points on the supportelement 14 and on the load connection element 28 do not need to bearranged on the same side of the axis 42 of symmetry. A piezoactuator100 extends between an engagement point 102 on the base connectionelement 10 and an engagement point 104 on the load connection element28. A further piezoactuator 106 extends between an engagement point 108on the load connection element 28 and an engagement point 110 on thesupport element 14.

In many cases, the actuators are arranged in such a way that overall thetorques which are exerted on the load connection element 28 cancel oneanother out. This ensures that all the actuators are always subjected topressure pretensioning. In the arrangement illustrated in FIG. 7, thiscan occur, for example, by further piezoactuators (not illustrated inthis sectional view) being adjacent to the piezoactuator 106, saidfurther piezoactuators extending between engagement points on the baseconnection element 10 and engagement points on the load connectionelement 28 and thus compensating the torque which is exerted on the loadconnection element 28 by the piezoactuator 106. For example, thearrangement can have six piezoactuators which are rotationallysymmetrical through 120.degree. Said piezoactuators are arranged in sucha way that in each case one actuator of the first actuator system (i.e.extending between engagement points on the base connection element 10and the load connection element 28) and one actuator of the secondactuator system (i.e. extending between engagement points on the supportelement 14 and the load connection element 28) lie opposite one anotherrelative to the axis 42 of symmetry. Adjacent actuators are associatedwith different actuator systems.

FIG. 8 illustrates an interface for vibration damping in a perspectivepartial illustration with a cut-out segment. A piezoactuator 130 extendsbetween an engagement point 132 on the base connection element 10 and anengagement point 134 on the load connection element 28. A furtherpiezoactuator 136 extends between an engagement point 138 on the loadconnection element 28 and an engagement point 140 on the support element14.

In this illustration it is apparent that both the base connectionelement 10 and the surface of the load connection element 28 are freelyaccessible for mounting purposes. The pretensioning device 12 isembodied as an elastic, cylindrical pipe which completely encloses theactuator systems and thus protects them against undesired loading byshearing forces perpendicular to their preferred direction and againstenvironmental effects. The electrical feedlines to the piezoactuatorscan be routed to the piezoactuators 130 and 136 through an opening 142in the base connection element 10, for example.

FIG. 9 illustrates a plan view of an arrangement which shows the use ofthe invention for vibration damping in various spatial directions. Anactuator system which is composed of the piezoactuators 160 and 162extends between the engagement points 164 and 166 on the base connectionelement 10 and the engagement points 168 and 170 on the load connectionelement 28. An actuator system which is composed of piezoactuators 172and 174 extends between the engagement points 176 and 178 on a firstsupport element 180 and the engagement points 182 and 184 on the loadconnection element 28. The actuators 160, 162, 172 and 174 have the samespatial direction (referred to below as the X direction) as thepreferred direction.

An actuator system which is composed of the piezoactuators 190 and 192extends between the engagement points 194 and 196 on the base connectionelement 10 and the engagement points 198 and 200 on the load connectionelement 28. An actuator system which is composed of the piezoactuators202 and 204 extends between the engagement points 206 and 208 on asecond support element 210 and the engagement points 212 and 214 on theload connection element 28. The actuators 190, 192, 202 and 204 have thesame spatial direction (referred to below as the Y direction) as thepreferred direction, with this spatial direction being perpendicular tothe abovementioned preferred direction of the actuators 160, 162, 172and 174.

In this exemplary embodiment, the support element 14 is composed of twoseparate support elements 180 and 210. They are each connected to thebase connection element 10 with a pretensioning device 216 or 218 (forexample a rubber cube).

The load can be mounted on the load connection element 28 having, inthis example, a cross-shaped cross section, by virtue of the fact thatthe load connection element additionally has a planar mounting platewhich is mounted on the cross of the load connection element.

The arrangement has various advantages. On the one hand, transversevibrations of the base connection element 10 in the X and Y directionscan be damped by suitably actuating the piezoactuators. In this contextit is possible, for example, to use, for each spatial direction, anelectronic circuit for active vibration damping in a way which isanalogous to the circuit described in FIG. 3. In addition, tiltingvibrations of the base connection element 10 toward the X axis or Y axiscan also be compensated by suitable actuation of the piezoactuators in away which is analogous to FIG. 4.

The piezoactuators are pretensioned differently in the two spatialdirections by the pretensioning devices 216 and 218. This may beadvantageous for applications in which different types of piezoactuatorsare to be used in the X and Y directions owing, for example, todifferent vibrations being expected in these two spatial directions.

In addition to the actuators which are illustrated here in the X and Ydirections, it is also possible to use additional actuators in ananalogous fashion in the spatial direction which is perpendicular to theX and Y directions. A separate support element is also appropriate forthis again. This support element is preferably embodied again in such away that the load connection element 28 is freely accessible formounting purposes.

FIG. 10 illustrates an arrangement for vibration damping in variousspatial directions which is an alternative to FIG. 9. The arrangementhas, like the arrangement in FIG. 9, in turn a base connection element10 and two support elements 180 and 210 which are connected to the baseconnection element 10 via the pretensioning devices 216 and 218. A firstpiezoactuator 230 extends between an engagement point 232 on the baseconnection element 10 and an engagement point 234 on the load connectionelement 28. A second piezoactuator 236 extends between an engagementpoint 238 on the support element 180 and an engagement point 240 on theload connection element 28. A third piezoactuator 242 extends between anengagement point 244 on the support element 210 and an engagement point246 on the load connection element 28.

The arrangement shows that it is not absolutely necessary for in eachcase an actuator which extends between the base connection element 10and the load connection element 28 and an actuator which extends betweena support element and the load connection element 28 to have the samepreferred direction.

As an alternative to the arrangement illustrated in FIG. 10 it is alsopossible to use further piezoactuators for damping vibrations in furtherspatial directions. Thus, for example four piezoactuators and threesupport elements could be arranged in such a way that the piezoactuatorseach point into the corners of a tetrahedron which is standing on one ofits tips.

FIG. 11 illustrates how a piezoactuator can be used as a sensor for astructural analysis. Said figure is a detailed view of any piezoactuatorfrom one of the abovementioned exemplary embodiments, that is to say forexample the piezoactuator 16 in FIG. 2. The piezoactuator is composed inthis example of a stack of a plurality of piezoceramic elements.

A specific voltage is applied to the piezoactuator 16 by means of avariable voltage source 260, with the switch 262 being initially closed.If the switch 262 is then suddenly opened, the length of thepiezoactuator 16 changes suddenly. The entire system, that is to sayalso the other elements which are not illustrated here such as, forexample, the load connection element 28, starts to vibrate. This isreferred to as the structural response of the entire system to thestimulation by opening the switch 262.

The vibrations of the entire system in turn bring about a periodicallychanging pressure on the piezoactuator 16. Owing to the piezo effect,these pressure fluctuations result in fluctuations in the electricalvoltage between the electrodes 264 and 266 of a piezoceramic element 268of the piezoactuator 16. These voltage fluctuations can be registeredand recorded using a measuring device 270.

Instead of simply switching off the voltage which is applied to thepiezoactuator 16 it is also possible to stimulate the entire system bymeans of other voltage profiles. For example, a simple sinusoidalvoltage can be used or a voltage pulse. The respective structuralresponse of the entire system to various types of stimulations can beused for a system analysis of the entire system by comparison withsimulation values or by comparison with reference structural responses.If, for example, the structure interface is integrated into a carrierarm of a satellite system or into a spring-damper system in the regionof the chassis of a motor vehicle, for example defects (for example dueto material fatigue, etc.) can be detected and suitable countermeasurestaken early by means of regular structural analyses.

Furthermore, the piezoceramic element 268 which acts as a sensor in FIG.11 can also be used for active vibration damping according to FIG. 3.Instead of the signal of the acceleration sensor 60 in FIG. 3, thevoltage which occurs between the electrodes 264 and 266 (after suitablephase shifting in the phase shifter 62) is then used as an input signalfor the electronic closed loop control system 64. In this way it ispossible to dispense with additionally providing a sensor in theinterface.

FIGS. 12 and 13 show possible wiring arrangements of the energyconverters for vibration damping. These are again any piezoactuator ofthe interface, and a plurality of actuators can also be wiredsimultaneously in this way or a similar way. In the text which followsit is assumed that the actuator is the actuator 16 which extends betweenthe base connection element 10 and the load connection element 28. Thebase connection element 10 and the load connection element 28 areillustrated in highly simplified form and the engagement points 20 and24 and the other components of the interface are not illustrated forreasons of simplification.

The piezoactuator 16 in FIGS. 12 and 13 is, similar to the arrangementillustrated in FIG. 11, configured again as a stack of a plurality ofpiezoceramic elements (sixteen in this case). The piezoceramic elements7 to 13 (counted from the side where the basic connection element 10 is)are combined to form a unit 280 in such a way that the electricalpotential of this unit can be tapped off between a terminal 282, near tothe base connection element 10, of the unit 280 and a terminal 284, nearto the load connection element 28, of the unit 280.

In FIG. 12, the terminals 282 and 284 are each connected to one end ofan ohmic resistor 286. Furthermore, the terminal 282 is connected toground potential. In FIG. 13, the terminal 282 is connected to aninductor 288. This inductor 288 is connected to an ohmic resistor 286which is in turn connected to the terminal 284. Furthermore, theterminal 282 is connected to ground potential. If the load connectionelement 28 carries out mechanical vibrations relative to the baseconnection element 10, this results in periodically fluctuating pressureon the piezoactuator 16. Owing to the piezoelectric effect, thesepressure fluctuations lead to fluctuations in the charge on the surfacesof the unit 280 lying opposite. These charge fluctuations result in afluctuation of the voltage between the terminals 282 and 284, whichleads to a periodic flow of current through the electric wiringarrangement.

The arrangement in FIG. 13 acts as a damped series oscillatory circuitcomposed of a capacitor, an inductor and an ohmic resistor. Theterminals 282 and 284 act here like the plates of a capacitor whosecharge varies periodically. At each oscillation, some of the electricalenergy in the ohmic resistor 286 is converted into thermal energy andthe vibration is thus damped. The selection of suitable ohmic resistorsand inductors is made in accordance with the method described in N. W.Hagood and A. von Flotow: Damping of Structural Vibrations withPiezoelectric Materials and Passive Electrical Networks, Journal ofSound and Vibration 146 (2), 243 (1991).

LIST OF REFERENCE NUMERALS

-   -   1 Internal interference sources    -   2 Active element    -   3 Active element    -   4 Transmission paths    -   5 Sensitive elements    -   10 Base connection element    -   12 Pretensioning device    -   14 Support element    -   16 Piezoactuator of the first actuator system between base        connection element 10 and load connection element 28    -   18 Piezoactuator of the first actuator system between base        connection element 10 and load connection element 28    -   20 Engagement point of the actuator 16 on the base connection        element 10    -   22 Engagement point of the actuator 18 on the base connection        element 10    -   24 Engagement point of the actuator 16 on the load connection        element 28    -   26 Engagement point of the actuator 18 on the load connection        element 28    -   28 Load connection element    -   30 Piezoactuator of the second actuator system between support        element 14 and load connection element 28    -   32 Piezoactuator of the second actuator system between support        element 14 and load connection element 28    -   34 Engagement point of the piezoactuator 30 on the support        element 14    -   36 Engagement point of the piezoactuator 32 on the support        element 14    -   38 Engagement point of the piezoactuator 30 on the load element        28    -   40 Engagement point of the piezoactuator 32 on the load element        28    -   42 Axis of symmetry    -   60 Acceleration sensor    -   62 Phase shifter    -   64 Electronic closed loop control system    -   66 First postamplifier    -   68 180.degree. phase shifter    -   70 Second postamplifier    -   80 First actuator pair    -   82 Second actuator pair    -   84 Third actuator pair    -   88 Tilting axis    -   90 Tilting axis    -   92 Tilting axis    -   100 Piezoactuator    -   102 Engagement point of piezoactuator 100 on the base connection        element    -   104 Engagement point of the piezoactuator 100 on the load        connection element    -   106 Piezoactuator    -   108 Engagement point of the piezoactuator 106 on the load        connection element    -   110 Engagement point of the piezoactuator 106 on the support        element    -   130 Piezoactuator    -   132 Engagement point of the piezoactuator 130 on the base        connection element    -   134 Engagement point of the piezoactuator 130 on the load        connection element    -   136 Piezoactuator    -   140 Engagement point of the piezoactuator 136 on the load        connection element    -   142 Engagement point of the piezoactuator 136 on the support        element Opening in the base connection element for electric        feedlines to the piezoactuators    -   160 Piezoactuator    -   162 Piezoactuator    -   164 Engagement point of the piezoactuator 160 on the base        connection element    -   166 Engagement point of the piezoactuator 162 on the base        connection element    -   168 Engagement point of the piezoactuator 160 on the load        connection element    -   170 Engagement point of the piezoactuator 162 on the load        connection element    -   172 Piezoactuator    -   174 Piezoactuator    -   176 Engagement point of the piezoactuator 172 on the support        element 180    -   178 Engagement point of the piezoactuator 174 on the support        element 180    -   180 Support element    -   182 Engagement point of the piezoactuator 172 on the load        connection element    -   184 Engagement point of the piezoactuator 174 on the load        connection element    -   190 Piezoactuator    -   192 Piezoactuator    -   194 Engagement point of the piezoactuator 190 on the base        connection element    -   196 Engagement point of the piezoactuator 192 on the base        connection element    -   198 Engagement point of the piezoactuator 190 on the load        connection element    -   200 Engagement point of the piezoactuator 192 on the load        connection element    -   202 Piezoactuator    -   204 Piezoactuator    -   206 Engagement point of the piezoactuator 202 on the support        element 210    -   208 Engagement point of the piezoactuator 204 on the support        element 210    -   210 Support element    -   212 Engagement point of the piezoactuator 202 on the load        connection element 28    -   214 Engagement point of the piezoactuator 204 on the load        connection element 28    -   216 Pretensioning device    -   218 Pretensioning device    -   230 Piezoactuator    -   232 Engagement point of the piezoactuator 230 on the base        connection element 10    -   234 Engagement point of the piezoactuator 230 on the load        connection element 28    -   236 Piezoactuator    -   238 Engagement point of the piezoactuator 236 on the support        element 180    -   240 Engagement point of the piezoactuator 236 on the load        connection element 28    -   242 Piezoactuator    -   244 Engagement point of the piezoactuator 242 on the support        element 210    -   246 Engagement point of the piezoactuator 242 on the load        connection element 28    -   260 Variable voltage source    -   262 Switch    -   264 First electrode of the piezoceramic element 268    -   266 Second electrode of the piezoceramic element 268    -   268 Piezoceramic element    -   270 Measuring device    -   280 Combined unit composed of piezoceramic elements of the        piezoactuator 16    -   282 Terminal of the unit 280 near to the base connection element        10    -   284 Terminal of the unit 280 near to the load connection element        28    -   286 Ohmic resistor    -   288 Inductor

1. An interface for reducing mechanical vibrations, comprising: a baseconnection element, a load connection element at least one supportelement, at least a first energy converter system which is embodied asan actuator system extending between at least one engagement pointlocated on the base connection element and at least one engagement pointlocated on the load connection element; at least one second energyconverter system which is embodied as an actuator system extendingbetween at least one engagement point located on the support element andat least one engagement point located on the load connection element; atleast one elastic pretensioning device connecting said base connectionelement to said support element for exerting a compressive preload onthe first energy converter system and on the second energy convertersystem, wherein the engagement points of said energy converter systemsestablish punctiform points of contact, and wherein said pretensioningdevice is embodied in such a way that a defined adjustment of saidpreload exerted on said energy converter systems is possible.
 2. Theinterface as recited in claim 1, characterized in that the energyconverter systems include at least one of the following elements: apiezoactuator, a shape memory alloy actuator, an electrorheological ormagnetorheological fluid actuator or fluid damper, or anelectrostrictive or magnetostrictive actuator.
 3. The interface asrecited in claim 1, characterized in that at least one sensor system isconnected to the load connection element for determining at least one ofthe following parameters: travel, velocity, acceleration, force.
 4. Anarrangement for reducing mechanical vibrations, characterized by aninterface as recited in claim 1, at least one system which acts as atleast one of the following: a movement sensor, an acceleration sensor, avelocity sensor, a force sensor, and an electronic circuit whichgenerates, from a signal developed by the at least one system, a targetfunction for actuating the energy converter systems of the interface. 5.An arrangement for reducing mechanical vibrations, characterized by aninterface as recited in claim 1, and an electronic circuit operativelyassociated with said interface for providing passive or semiactivevibration reduction.
 6. An arrangement for reducing mechanicalvibrations, characterized in that a plurality of interfaces as recitedin claim 1 are connected in series, with the base connection element ofeach following interface being connected to the load connection elementof the preceding interface.
 7. An interface for reducing mechanicalvibrations, comprising: a base connection element; a support elementseparated from the base connection element by an intermediate space; aload connection element having a first part and a second part, saidfirst part being located in said intermediate space and said second partbeing located outside of said intermediate space; a first energyconverter system extending between a first engagement point located onthe base connection element and a second engagement point located on theload connection element, and a second energy converter system extendingbetween a third engagement point located on the support element and afourth engagement point located on the load connection element; and anelastic pretensioning device connecting the base connection element tothe support element for exerting a compressive preload on the firstenergy converter system and on the second energy converter system, thepretensioning device being embodied as an elastic pipe which surroundssaid first and second energy converter system.
 8. An interface asrecited in claim 7, characterized in that said first and second energyconverter systems include at least one active element selected from thegroup consisting of a piezoactuator, a shape memory alloy actuator, anelectrorheological fluid actuator, a magnetorheological fluid actuator,a fluid damper, an electrostrictive actuator, and a magnetostrictiveactuator.
 9. An interface as recited in claim 7, characterized in thatat least one sensor system adapted to determine at least one physicalquantity chosen from the group consisting of travel, velocity,acceleration and force is connected to the load connection element. 10.An interface as recited in claim 7, characterized in that at least oneof said first and second energy converter systems can convert mechanicalenergy into electrical energy.
 11. An arrangement for reducingmechanical vibrations, comprising: an interface as recited in claim 7,at least one system which acts as a movement sensor and/or accelerationsensor and/or velocity sensor and/or force sensor, and an electroniccircuit which generates, from a signal of said one system, a targetfunction for actuating the energy converter systems of the interface.12. An arrangement for reducing mechanical vibrations, comprising: aninterface as recited in claim 11, wherein said electronic circuitcooperates with said energy conversion systems to accomplish passive orsemiactive vibration reduction.
 13. An arrangement for reducingmechanical vibrations, characterized in that a plurality of interfacesas recited in claim 7 are connected in such a way that in each case thebase connection element of the following interface is connected to theload connection element of the preceding interface.
 14. An interface forreducing mechanical vibrations, comprising: a base connection element; aload connection element; a first support element affixed to said baseconnection element by a first elastic pretensioning device; a secondsupport element affixed to said base connection element by a secondelastic pretensioning device; a first energy converter system supportingsaid load connection in a first direction and including at least oneenergy converter extending between an engagement point located on thebase connection element and an engagement point located on the loadconnection element, and at least one energy converter extending betweenan engagement point located on the first support element and anengagement point located on the load connection element; and a secondenergy converter system supporting said load connection in a seconddirection angularly disposed relative to said first direction andincluding at least one energy converter extending between an engagementpoint located on the base connection element and an engagement pointlocated on the load connection element, and at least one energyconverter extending between an engagement point located on the secondsupport element and an engagement point located on the load connectionelement; said first elastic pretensioning device being operative toexert a compressive preload on the first energy converter system, andsaid second elastic pretensioning device being operative to exert acompressive preload on the second energy converter system.
 15. Aninterface for reducing mechanical vibrations, comprising: a baseconnection element; a load connection element; a first support elementaffixed to said base connection element by a first elastic pretensioningdevice; a second support element affixed to said base connection elementby a second elastic pretensioning device; a first energy convertersystem supporting said load connection in a first direction andincluding at least one energy converter extending between an engagementpoint located on the first support element and an engagement pointlocated on the load connection element; a second energy converter systemsupporting said load connection in a second direction angularly disposedrelative to said first direction and including at least one energyconverter extending between an engagement point located on the secondsupport element and an engagement point located on the load connectionelement; and a third energy converter system supporting said loadconnection in a third direction angularly disposed relative to saidfirst and second directions and including at least one energy converterextending between an engagement point located on the base connectionelement and an engagement point located on the load connection element;said first elastic pretensioning device being operative to exert acompressive preload on at least the first energy converter system, andsaid second elastic pretensioning device being operative to exert acompressive preload on at least the second energy converter system.